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   <div id="projectname">GSoC2011SfM
   &#160;<span id="projectnumber">0.1</span>
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   <div id="projectbrief">Google Summer of Code 2011: Structure from motion</div>
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<div class="title">D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/StructureEstimator.cpp</div>  </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00002"></a>00002 <span class="preprocessor">#include &quot;StructureEstimator.h&quot;</span>
<a name="l00003"></a>00003 <span class="preprocessor">#include &quot;SequenceAnalyzer.h&quot;</span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &quot;PointOfView.h&quot;</span>
<a name="l00005"></a>00005 <span class="preprocessor">#include &quot;PointsToTrack.h&quot;</span>
<a name="l00006"></a>00006 <span class="preprocessor">#include &quot;Camera.h&quot;</span>
<a name="l00007"></a>00007 
<a name="l00008"></a>00008 <span class="keyword">namespace </span>OpencvSfM{
<a name="l00009"></a>00009   <span class="keyword">using</span> std::vector;
<a name="l00010"></a>00010   <span class="keyword">using</span> cv::Ptr;
<a name="l00011"></a>00011 
<a name="l00012"></a><a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#aebc57769a62034b549d9b729a3e8c1e7">00012</a>   vector&lt;char&gt; <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#aebc57769a62034b549d9b729a3e8c1e7">StructureEstimator::computeStructure</a>( <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_error )
<a name="l00013"></a>00013   {
<a name="l00014"></a>00014     vector&lt;char&gt; output_mask;
<a name="l00015"></a>00015     vector&lt;TrackOfPoints&gt;&amp; tracks = <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#ac2f31a43a949390a4ef0341b25658458" title="Object containing all 2D information of this sequence.">sequence_</a>-&gt;<a class="code" href="class_opencv_sf_m_1_1_sequence_analyzer.html#af7c11e97664c050782bfc2d1808b219e">getTracks</a>( );
<a name="l00016"></a>00016     vector&lt; Ptr&lt; PointsToTrack &gt; &gt; points_to_track = <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#ac2f31a43a949390a4ef0341b25658458" title="Object containing all 2D information of this sequence.">sequence_</a>-&gt;<a class="code" href="class_opencv_sf_m_1_1_sequence_analyzer.html#aefda449985e3013c6ac2adc5f61151d4">getPoints</a>( );
<a name="l00017"></a>00017 
<a name="l00018"></a>00018     <span class="comment">//for each points:</span>
<a name="l00019"></a>00019     vector&lt;TrackOfPoints&gt;::size_type key_size = tracks.size( );
<a name="l00020"></a>00020     vector&lt;PointOfView&gt;::size_type num_camera = <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#abd0b6883acdf33481d92bac73c258a9c" title="List of cameras (intra and extern parameters...)">cameras_</a>-&gt;size( );
<a name="l00021"></a>00021     <span class="keywordtype">int</span> idImage=-1, idPoint=-1;
<a name="l00022"></a>00022     vector&lt;TrackOfPoints&gt;::size_type i;
<a name="l00023"></a>00023 
<a name="l00024"></a>00024     <span class="keywordflow">for</span> ( i=0; i &lt; key_size; i++ )
<a name="l00025"></a>00025     {
<a name="l00026"></a>00026       <a class="code" href="class_opencv_sf_m_1_1_track_of_points.html" title="This class store the track of keypoints. A track is a connected set of matching keypoints across mult...">TrackOfPoints</a> &amp;track = tracks[ i ];
<a name="l00027"></a>00027       <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nviews = track.<a class="code" href="class_opencv_sf_m_1_1_track_of_points.html#a3e18eabd0bbdc80e5a183eaf3d6a8d69">getNbTrack</a>( );
<a name="l00028"></a>00028 
<a name="l00029"></a>00029       CV_DbgAssert( nviews &lt;= cameras_-&gt;size( ) );
<a name="l00030"></a>00030 
<a name="l00031"></a>00031       cv::Vec3d point_final;
<a name="l00032"></a>00032       <span class="keywordtype">double</span> distance=track.<a class="code" href="class_opencv_sf_m_1_1_track_of_points.html#a2b4033102211c324ead8214849a6da93">triangulateRobust</a>( *<a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#abd0b6883acdf33481d92bac73c258a9c" title="List of cameras (intra and extern parameters...)">cameras_</a>,points_to_track, point_final );
<a name="l00033"></a>00033       <span class="comment">//double distance=track.triangulateLinear( *cameras_,points_to_track, point_final );</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035       <span class="comment">//tests:</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 
<a name="l00039"></a>00039 
<a name="l00040"></a>00040       <span class="comment">//this is used to take only correct 3D points:</span>
<a name="l00041"></a>00041       output_mask.push_back( ( distance&lt;max_error ) );
<a name="l00042"></a>00042     }
<a name="l00043"></a>00043     <span class="keywordflow">return</span> output_mask;
<a name="l00044"></a>00044   }
<a name="l00045"></a>00045 
<a name="l00046"></a><a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#a120e2b12840f4c4120602a58ab444560">00046</a>   std::vector&lt; TrackOfPoints &gt; <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#aebc57769a62034b549d9b729a3e8c1e7">StructureEstimator::computeStructure</a>(
<a name="l00047"></a>00047     <span class="keyword">const</span> std::vector&lt;int&gt;&amp; list_of_images, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> max_error )
<a name="l00048"></a>00048   {
<a name="l00049"></a>00049     CV_Assert( list_of_images.size( ) &gt; 1 );
<a name="l00050"></a>00050 
<a name="l00051"></a>00051     std::vector&lt; TrackOfPoints &gt; points3D;
<a name="l00052"></a>00052     vector&lt;TrackOfPoints&gt;&amp; tracks = <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#ac2f31a43a949390a4ef0341b25658458" title="Object containing all 2D information of this sequence.">sequence_</a>-&gt;<a class="code" href="class_opencv_sf_m_1_1_sequence_analyzer.html#af7c11e97664c050782bfc2d1808b219e">getTracks</a>( );
<a name="l00053"></a>00053     vector&lt; Ptr&lt; PointsToTrack &gt; &gt; &amp;points_to_track = <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#ac2f31a43a949390a4ef0341b25658458" title="Object containing all 2D information of this sequence.">sequence_</a>-&gt;<a class="code" href="class_opencv_sf_m_1_1_sequence_analyzer.html#aefda449985e3013c6ac2adc5f61151d4">getPoints</a>( );
<a name="l00054"></a>00054 
<a name="l00055"></a>00055     <span class="comment">//for each points:</span>
<a name="l00056"></a>00056     vector&lt;TrackOfPoints&gt;::size_type key_size = tracks.size( );
<a name="l00057"></a>00057     vector&lt;PointOfView&gt;::size_type num_camera = <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#abd0b6883acdf33481d92bac73c258a9c" title="List of cameras (intra and extern parameters...)">cameras_</a>-&gt;size( );
<a name="l00058"></a>00058     <span class="keywordtype">int</span> idImage=-1, idPoint=-1;
<a name="l00059"></a>00059     vector&lt;TrackOfPoints&gt;::size_type i;
<a name="l00060"></a>00060     vector&lt;int&gt;::size_type images_size =list_of_images.size( );
<a name="l00061"></a>00061 
<a name="l00062"></a>00062     <span class="keywordflow">for</span> ( i=0; i &lt; key_size; i++ )
<a name="l00063"></a>00063     {
<a name="l00064"></a>00064       <a class="code" href="class_opencv_sf_m_1_1_track_of_points.html" title="This class store the track of keypoints. A track is a connected set of matching keypoints across mult...">TrackOfPoints</a> &amp;track = tracks[ i ];
<a name="l00065"></a>00065       <span class="keywordtype">int</span> nbLinks = 0;
<a name="l00066"></a>00066       <span class="keywordflow">for</span>( <span class="keywordtype">size_t</span> it_img = 0; it_img&lt;images_size ; ++it_img )
<a name="l00067"></a>00067         <span class="keywordflow">if</span>( track.<a class="code" href="class_opencv_sf_m_1_1_track_of_points.html#aea06a066b4be5fa2ff5ef09cea7fb745">containImage</a>( list_of_images[ it_img ] ) )
<a name="l00068"></a>00068           nbLinks++;
<a name="l00069"></a>00069 
<a name="l00070"></a>00070       <span class="keywordflow">if</span>( nbLinks &gt; 1 )
<a name="l00071"></a>00071       {
<a name="l00072"></a>00072         <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nviews = track.<a class="code" href="class_opencv_sf_m_1_1_track_of_points.html#a3e18eabd0bbdc80e5a183eaf3d6a8d69">getNbTrack</a>( );
<a name="l00073"></a>00073         vector&lt;bool&gt; mask;
<a name="l00074"></a>00074         <span class="keywordflow">for</span>( <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j=0; j&lt;nviews; ++j )
<a name="l00075"></a>00075         {
<a name="l00076"></a>00076           <span class="keywordflow">if</span>( std::find( list_of_images.begin( ),list_of_images.end( ),
<a name="l00077"></a>00077             track.<a class="code" href="class_opencv_sf_m_1_1_track_of_points.html#ab64160435d833ce829d6583bb181944a">getImageIndex</a>( j ) ) != list_of_images.end( ) )
<a name="l00078"></a>00078             mask.push_back( <span class="keyword">true</span> );
<a name="l00079"></a>00079           <span class="keywordflow">else</span>
<a name="l00080"></a>00080             mask.push_back( <span class="keyword">false</span> );
<a name="l00081"></a>00081         }
<a name="l00082"></a>00082 
<a name="l00083"></a>00083         cv::Vec3d point_final;
<a name="l00084"></a>00084         <span class="keywordtype">double</span> distance=track.<a class="code" href="class_opencv_sf_m_1_1_track_of_points.html#a2b4033102211c324ead8214849a6da93">triangulateRobust</a>( *<a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#abd0b6883acdf33481d92bac73c258a9c" title="List of cameras (intra and extern parameters...)">cameras_</a>,points_to_track, point_final,
<a name="l00085"></a>00085           4, mask );
<a name="l00086"></a>00086 
<a name="l00087"></a>00087         <span class="keywordflow">if</span>( distance&lt;max_error )
<a name="l00088"></a>00088           points3D.push_back( track );<span class="comment">//only keep correct points</span>
<a name="l00089"></a>00089       }
<a name="l00090"></a>00090 
<a name="l00091"></a>00091     }
<a name="l00092"></a>00092     <span class="keywordflow">return</span> points3D;
<a name="l00093"></a>00093   }
<a name="l00094"></a>00094 
<a name="l00095"></a><a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#afe1217c1dfcb8d2336272f3faba163bc">00095</a>   <span class="keywordtype">void</span> <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#afe1217c1dfcb8d2336272f3faba163bc">StructureEstimator::removeOutliersTracks</a>( <span class="keywordtype">double</span> max_error,
<a name="l00096"></a>00096     std::vector&lt; TrackOfPoints &gt;* list_of_tracks )
<a name="l00097"></a>00097   {
<a name="l00098"></a>00098     vector&lt;char&gt; output_mask;
<a name="l00099"></a>00099     <span class="keywordflow">if</span>(list_of_tracks==NULL)
<a name="l00100"></a>00100       list_of_tracks = &amp;<a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#ac2f31a43a949390a4ef0341b25658458" title="Object containing all 2D information of this sequence.">sequence_</a>-&gt;<a class="code" href="class_opencv_sf_m_1_1_sequence_analyzer.html#af7c11e97664c050782bfc2d1808b219e">getTracks</a>( );
<a name="l00101"></a>00101     vector&lt;TrackOfPoints&gt;&amp; tracks = *list_of_tracks;
<a name="l00102"></a>00102     vector&lt; Ptr&lt; PointsToTrack &gt; &gt; &amp;points_to_track = <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#ac2f31a43a949390a4ef0341b25658458" title="Object containing all 2D information of this sequence.">sequence_</a>-&gt;<a class="code" href="class_opencv_sf_m_1_1_sequence_analyzer.html#aefda449985e3013c6ac2adc5f61151d4">getPoints</a>( );
<a name="l00103"></a>00103 
<a name="l00104"></a>00104     <span class="comment">//for each points:</span>
<a name="l00105"></a>00105     vector&lt;TrackOfPoints&gt;::size_type key_size = tracks.size( );
<a name="l00106"></a>00106     vector&lt;PointOfView&gt;::size_type num_camera = <a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#abd0b6883acdf33481d92bac73c258a9c" title="List of cameras (intra and extern parameters...)">cameras_</a>-&gt;size( );
<a name="l00107"></a>00107     <span class="keywordtype">int</span> idImage=-1, idPoint=-1;
<a name="l00108"></a>00108     vector&lt;TrackOfPoints&gt;::size_type i;
<a name="l00109"></a>00109 
<a name="l00110"></a>00110     <span class="keywordflow">for</span> ( i=0; i &lt; key_size; i++ )
<a name="l00111"></a>00111     {
<a name="l00112"></a>00112       <a class="code" href="class_opencv_sf_m_1_1_track_of_points.html" title="This class store the track of keypoints. A track is a connected set of matching keypoints across mult...">TrackOfPoints</a> &amp;track = tracks[ i ];
<a name="l00113"></a>00113       <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nviews = track.<a class="code" href="class_opencv_sf_m_1_1_track_of_points.html#a3e18eabd0bbdc80e5a183eaf3d6a8d69">getNbTrack</a>( );
<a name="l00114"></a>00114 
<a name="l00115"></a>00115       CV_DbgAssert( nviews &lt;= cameras_-&gt;size( ) );
<a name="l00116"></a>00116 
<a name="l00117"></a>00117       cv::Ptr&lt;cv::Vec3d&gt; point_final = track.<a class="code" href="class_opencv_sf_m_1_1_track_of_points.html#a33e08312ec77fe141e106d570ce75d2a">get3DPosition</a>();
<a name="l00118"></a>00118       <span class="keywordflow">if</span>(point_final.empty())
<a name="l00119"></a>00119       {
<a name="l00120"></a>00120         cv::Vec3d *pt = <span class="keyword">new</span> cv::Vec3d;
<a name="l00121"></a>00121         track.<a class="code" href="class_opencv_sf_m_1_1_track_of_points.html#a2b4033102211c324ead8214849a6da93">triangulateRobust</a>( *<a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#abd0b6883acdf33481d92bac73c258a9c" title="List of cameras (intra and extern parameters...)">cameras_</a>,points_to_track, *pt );
<a name="l00122"></a>00122         point_final = cv::Ptr&lt;cv::Vec3d&gt;( pt );
<a name="l00123"></a>00123       }
<a name="l00124"></a>00124 
<a name="l00125"></a>00125       track.<a class="code" href="class_opencv_sf_m_1_1_track_of_points.html#aec31d0a12aa5085776a98cea6708ee5e">removeOutliers</a>( *<a class="code" href="class_opencv_sf_m_1_1_structure_estimator.html#abd0b6883acdf33481d92bac73c258a9c" title="List of cameras (intra and extern parameters...)">cameras_</a>, points_to_track, max_error );
<a name="l00126"></a>00126     }
<a name="l00127"></a>00127 
<a name="l00128"></a>00128   }
<a name="l00129"></a>00129 }
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